#ifndef _PIRATE_AABBOX_3D_H_
#define _PIRATE_AABBOX_3D_H_

#include "pirateMath.h"
#include "plane3d.h"
#include "line3d.h"

namespace Pirate
{

//! Axis aligned bounding box in 3d dimensional space.
/** Has some useful methods used with occlusion culling or clipping.
*/
template <class T>
class aabbox3d
{
public:

	// Constructors

	aabbox3d(): MinEdge(-1,-1,-1), MaxEdge(1,1,1) {};
	aabbox3d(const aabbox3d<T>& other): MinEdge(other.MinEdge), MaxEdge(other.MaxEdge) {};
	aabbox3d(const vector3d<T>& min, const vector3d<T>& max): MinEdge(min), MaxEdge(max) {};
	aabbox3d(const vector3d<T>& init): MinEdge(init), MaxEdge(init) {};
	aabbox3d(T minx, T miny, T minz, T maxx, T maxy, T maxz): MinEdge(minx, miny, minz), MaxEdge(maxx, maxy, maxz) {};

	// operators

	inline bool operator==(const aabbox3d<T>& other) const { return (MinEdge == other.MinEdge && other.MaxEdge == MaxEdge);};
	inline bool operator!=(const aabbox3d<T>& other) const { return !(MinEdge == other.MinEdge && other.MaxEdge == MaxEdge);};

	// functions

	//! Adds a point to the bounding box, causing it to grow bigger, 
	//! if point is outside of the box
	//! \param p: Point to add into the box.
	void addInternalPoint(const vector3d<T>& p)
	{
		addInternalPoint(p.X, p.Y, p.Z);
	}

	//! Adds an other bounding box to the bounding box, causing it to grow bigger,
	//! if the box is outside of the box
	//! \param b: Other bounding box to add into this box.
	void addInternalBox(const aabbox3d<T>& b)
	{
		addInternalPoint(b.MaxEdge);
		addInternalPoint(b.MinEdge);
	}

	//! Resets the bounding box.
	void reset(T x, T y, T z)
	{
		MaxEdge.set(x,y,z);
		MinEdge = MaxEdge;
	}

	//! Resets the bounding box.
	void reset(const aabbox3d<T>& initValue)
	{
		*this = initValue;
	}

	//! Resets the bounding box.
	void reset(const vector3d<T>& initValue)
	{
		MaxEdge = initValue;
		MinEdge = initValue;
	}

	//! Adds a point to the bounding box, causing it to grow bigger, 
	//! if point is outside of the box.
	//! \param x: X Coordinate of the point to add to this box.
	//! \param y: Y Coordinate of the point to add to this box.
	//! \param z: Z Coordinate of the point to add to this box.
	void addInternalPoint(T x, T y, T z)
	{
		if (x>MaxEdge.X) MaxEdge.X = x;
		if (y>MaxEdge.Y) MaxEdge.Y = y;
		if (z>MaxEdge.Z) MaxEdge.Z = z;

		if (x<MinEdge.X) MinEdge.X = x;
		if (y<MinEdge.Y) MinEdge.Y = y;
		if (z<MinEdge.Z) MinEdge.Z = z;
	}

	//! Determinates if a point is within this box.
	//! \param p: Point to check.
	//! \return Returns true if the point is withing the box, and false if it is not.
	bool isPointInside(const vector3d<T>& p) const
	{
		return (p.X >= MinEdge.X && p.X <= MaxEdge.X &&
			p.Y >= MinEdge.Y && p.Y <= MaxEdge.Y &&
			p.Z >= MinEdge.Z && p.Z <= MaxEdge.Z);
	};

	//! Determinates if a point is within this box and its borders.
	//! \param p: Point to check.
	//! \return Returns true if the point is withing the box, and false if it is not.
	bool isPointTotalInside(const vector3d<T>& p) const
	{
		return (p.X > MinEdge.X && p.X < MaxEdge.X &&
			p.Y > MinEdge.Y && p.Y < MaxEdge.Y &&
			p.Z > MinEdge.Z && p.Z < MaxEdge.Z);
	};

	//! Determinates if the box intersects with an other box.
	//! \param other: Other box to check a intersection with.
	//! \return Returns true if there is a intersection with the other box, 
	//! otherwise false.
	bool intersectsWithBox(const aabbox3d<T>& other) const
	{
		return (MinEdge <= other.MaxEdge && MaxEdge >= other.MinEdge);
	}

	bool isFullInside(const aabbox3d<T>& other) const
	{
		return MinEdge >= other.MinEdge && MaxEdge <= other.MaxEdge;
	}

	//! Tests if the box intersects with a line
	//! \param line: Line to test intersection with.
	//! \return Returns true if there is an intersection and false if not.
	bool intersectsWithLine(const line3d<T>& line) const
	{
		return intersectsWithLine(line.getMiddle(), line.getVector().normalize(), 
			(T)(line.getLength() * 0.5));
	}

	//! Tests if the box intersects with a line
	//! \return Returns true if there is an intersection and false if not.
	bool intersectsWithLine(const vector3d<T>& linemiddle, 
		const vector3d<T>& linevect,
		T halflength) const
	{
		const vector3d<T> e = getExtent() * (T)0.5;
		const vector3d<T> t = getCenter() - linemiddle;
		T r;

		if ((fabs(t.X) > e.X + halflength * fabs(linevect.X)) || 
			(fabs(t.Y) > e.Y + halflength * fabs(linevect.Y)) ||
			(fabs(t.Z) > e.Z + halflength * fabs(linevect.Z)) )
			return false;

		r = e.Y * (T)fabs(linevect.Z) + e.Z * (T)fabs(linevect.Y);
		if (fabs(t.Y*linevect.Z - t.Z*linevect.Y) > r )
			return false;

		r = e.X * (T)fabs(linevect.Z) + e.Z * (T)fabs(linevect.X);
		if (fabs(t.Z*linevect.X - t.X*linevect.Z) > r )
			return false;

		r = e.X * (T)fabs(linevect.Y) + e.Y * (T)fabs(linevect.X);
		if (fabs(t.X*linevect.Y - t.Y*linevect.X) > r)
			return false;

		return true;
	}

	//! Classifies a relation with a plane.
	//! \param plane: Plane to classify relation to.
	//! \return Returns ISREL3D_FRONT if the box is in front of the plane,
	//! ISREL3D_BACK if the box is back of the plane, and
	//! ISREL3D_CLIPPED if is on both sides of the plane.
	EIntersectionRelation3D classifyPlaneRelation(const plane3d<T>& plane) const
	{
		vector3d<T> nearPoint(MaxEdge);
		vector3d<T> farPoint(MinEdge);

		if (plane.Normal.X > (T)0)
		{
			nearPoint.X = MinEdge.X;
			farPoint.X = MaxEdge.X;
		}

		if (plane.Normal.Y > (T)0)
		{
			nearPoint.Y = MinEdge.Y;
			farPoint.Y = MaxEdge.Y;
		}

		if (plane.Normal.Z > (T)0)
		{
			nearPoint.Z = MinEdge.Z;
			farPoint.Z = MaxEdge.Z;
		}

		if (plane.Normal.dotProduct(nearPoint) + plane.D > (T)0)
			return ISREL3D_FRONT;

		if (plane.Normal.dotProduct(farPoint) + plane.D > (T)0)
			return ISREL3D_CLIPPED;

		return ISREL3D_BACK;
	}


	//! returns center of the bounding box
	vector3d<T> getCenter() const
	{
		return (MinEdge + MaxEdge) / 2;
	}

	//! returns extend of the box
	vector3d<T> getExtent() const
	{
		return MaxEdge - MinEdge;
	}


	//! stores all 8 edges of the box into a array
	//! \param edges: Pointer to array of 8 edges
	void getEdges(vector3d<T> *edges) const
	{
		const vector3d<T> middle = getCenter();
		const vector3d<T> diag = middle - MaxEdge;

		/*
		Edges are stored in this way:
		Hey, am I an ascii artist, or what? :) niko.
		/4--------/0
		/  |      / |
		/   |     /  |
		6---------2  |
		|   5- - -| -1
		|  /      |  /
		|/        | /
		7---------3/ 
		*/

		edges[0].set(middle.X + diag.X, middle.Y + diag.Y, middle.Z + diag.Z);
		edges[1].set(middle.X + diag.X, middle.Y - diag.Y, middle.Z + diag.Z);
		edges[2].set(middle.X + diag.X, middle.Y + diag.Y, middle.Z - diag.Z);
		edges[3].set(middle.X + diag.X, middle.Y - diag.Y, middle.Z - diag.Z);
		edges[4].set(middle.X - diag.X, middle.Y + diag.Y, middle.Z + diag.Z);
		edges[5].set(middle.X - diag.X, middle.Y - diag.Y, middle.Z + diag.Z);
		edges[6].set(middle.X - diag.X, middle.Y + diag.Y, middle.Z - diag.Z);
		edges[7].set(middle.X - diag.X, middle.Y - diag.Y, middle.Z - diag.Z);
	}


	//! returns if the box is empty, which means that there is
	//! no space within the min and the max edge.
	bool isEmpty() const
	{
		return MinEdge.equals ( MaxEdge );
	}

	//! repairs the box, if for example MinEdge and MaxEdge are swapped.
	void repair()
	{
		T t;

		if (MinEdge.X > MaxEdge.X)
		{ t=MinEdge.X; MinEdge.X = MaxEdge.X; MaxEdge.X=t; }
		if (MinEdge.Y > MaxEdge.Y)
		{ t=MinEdge.Y; MinEdge.Y = MaxEdge.Y; MaxEdge.Y=t; }
		if (MinEdge.Z > MaxEdge.Z)
		{ t=MinEdge.Z; MinEdge.Z = MaxEdge.Z; MaxEdge.Z=t; }
	}

	//! Calculates a new interpolated bounding box.
	//! \param other: other box to interpolate between
	//! \param d: value between 0.0f and 1.0f.
	aabbox3d<T> getInterpolated(const aabbox3d<T>& other, f32 d) const
	{
		f32 inv = 1.0f - d;
		return aabbox3d<T>((other.MinEdge*inv) + (MinEdge*d),
			(other.MaxEdge*inv) + (MaxEdge*d));
	}

	// member variables

	vector3d<T> MinEdge;
	vector3d<T> MaxEdge;
};

//! Typedef for a f32 3d bounding box.
typedef aabbox3d<f32> aabbox3df;
//! Typedef for an integer 3d bounding box.
typedef aabbox3d<s32> aabbox3di;


} // end namespace

#endif